EP0482983A1 - Lokalisierungsvorrichtung für eine ebene Fläche und diese anwendendes Bearbeitungssystem - Google Patents

Lokalisierungsvorrichtung für eine ebene Fläche und diese anwendendes Bearbeitungssystem Download PDF

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Publication number
EP0482983A1
EP0482983A1 EP91402780A EP91402780A EP0482983A1 EP 0482983 A1 EP0482983 A1 EP 0482983A1 EP 91402780 A EP91402780 A EP 91402780A EP 91402780 A EP91402780 A EP 91402780A EP 0482983 A1 EP0482983 A1 EP 0482983A1
Authority
EP
European Patent Office
Prior art keywords
face
parallel
plane
facets
reference element
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP91402780A
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English (en)
French (fr)
Other versions
EP0482983B1 (de
Inventor
Guy Elie Martin
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Airbus Group SAS
Original Assignee
Airbus Group SAS
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Filing date
Publication date
Application filed by Airbus Group SAS filed Critical Airbus Group SAS
Publication of EP0482983A1 publication Critical patent/EP0482983A1/de
Application granted granted Critical
Publication of EP0482983B1 publication Critical patent/EP0482983B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/401—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
    • G05B19/4015—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes going to a reference at the beginning of machine cycle, e.g. for calibration
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50026—Go to reference plane, cube
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T408/00—Cutting by use of rotating axially moving tool
    • Y10T408/08—Cutting by use of rotating axially moving tool with means to regulate operation by use of templet, tape, card, or other replaceable information supply
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T408/00—Cutting by use of rotating axially moving tool
    • Y10T408/16—Cutting by use of rotating axially moving tool with control means energized in response to activator stimulated by condition sensor
    • Y10T408/175—Cutting by use of rotating axially moving tool with control means energized in response to activator stimulated by condition sensor to control relative positioning of Tool and work

Definitions

  • the present invention relates to a reference device for a flat face, as well as the machining systems of parts implementing it.
  • This flat face can be material or immaterial.
  • the invention makes it possible to identify any point of an object rigidly linked to said flat face.
  • the plane defined by the facets of the three reference elements parallel to said plane face forms a reference plane which can be used to determine the orientation of this plane face, while the edges of said first and second elements, parallel to said plane face, determine a system of two rectangular reference axes making it possible to locate the position of any point of said plane face.
  • the first of the axes of said reference system is formed by the collinear edges of said first and second elements, while the second of said axes is formed by the other edge of said first element, which is parallel to said plane face. It will be noted that if said flat face is rigidly linked to an object, said reference elements also make it possible to identify the position of any point of said object.
  • said third reference element could, like the second element, include a rectangular dihedral, the facets of which would be respectively orthogonal and parallel to said planar face, so that the edge of said dihedral would be parallel to the latter.
  • the second axis of the reference system could be formed by the alignment of the edge of said third element with that of the two edges of said first reference element parallel to said plane face, which is not aligned with the edge of said second element.
  • said second axis is defined only by the edge of said first element, which, parallel to said plane face, is not aligned with the edge of said second element.
  • said third element does not have an edge, but only its facet parallel to said planar face.
  • said third locating element has a dihedral as described above, it is advantageous that said third locating element is arranged so that the alignment which it forms with said first locating element is at least substantially perpendicular to the direction defined by the collinear edges of said first and second reference elements.
  • the marking device according to the invention is intended for a flat face elongated in the direction defined by said collinear edges of said first and second marking elements, it is advantageous, for reasons of precision of determination of said first axis of reference, that it comprises a fourth reference element comprising a rectangular dihedron, the facets of which are respectively orthogonal and parallel to said plane face, so that the edge of the latter dihedron is parallel to said plane face, that the facet of said fourth reference element, which is parallel to said planar face, is coplanar with the corresponding facets of said three reference elements and the edge of the dihedron of said fourth reference element is collinear with the collinear edges of said first and second reference elements.
  • said fourth reference element is on the side opposite to said second reference element with respect to the alignment formed by the first and third reference elements.
  • Said reference elements can be constituted by cylindrical studs whose end sections form the facets parallel to said planar face, the two facets of said first reference element, which are orthogonal to said planar face, being radial, while the facet of said second reference element and that of the possible fourth reference element, which are orthogonal to said planar face, are diametrical.
  • said flat face is adjustable in orientation and in position, it can therefore be made to coincide with a nominal reference position.
  • said flat face is not adjustable in orientation and in position, its actual orientation and position relative to said nominal reference position are known and can be taken into account.
  • said object linked to said flat face can be a drilling template provided with a plurality of holes and intended to be fixed on a workpiece, and said member can be a drill, a reamer or similar tool, to be introduced in at least some of the holes in said drilling template.
  • Said drilling template may be planar and have one face coincident with said planar face. It can also be curved and be integral with said flat face (which can be material or immaterial) by means of said reference elements.
  • Said drilling template is positioned relative to said workpiece in a precise manner, but the workpiece itself may not occupy a rigorous position with respect to its support, so that, relative to the latter, the position and the orientation of said flat face are close to, but different from, those of said nominal position. The system must therefore adapt the orientation and position of said member so that it can be successively introduced into said holes in the template.
  • said system comprises a computer controlling the movement and orientation of said mobile support depending on the measurements of said distance detector.
  • said mobile support is the wrist of a robot.
  • the robot knows said nominal position, and it is from this nominal position that it determines the actual orientation and position of said planar face. It is therefore essential that, when the robot brings the distance detector opposite the nominal position of a pad, it finds at least part of this pad. In other words, the radius of said reference pads must be greater than the positioning tolerances, in all directions, of said planar face with respect to a nominal position.
  • said distance detector delivers a signal when it is at a predetermined distance from one facet of said reference elements.
  • FIG. 1 is a front view of a flat face equipped with a marking device according to the present invention, said view corresponding to the arrow F1 in FIG. 2.
  • FIG. 2 is an elevation view of the flat face of FIG. 1.
  • FIG. 3 is a side view of the flat face of FIGS. 1 and 2, according to the arrow F3 in FIG. 2.
  • FIG. 4 illustrates an application of the device shown in FIGS. 1 to 3.
  • a device 1 for example a drilling template (whose guide bores are not visible), provided with a flat face 2.
  • the end facets 3.3, 4.2, 5.1 and 6.2 of elements 3, 4, 5 and 6 are coplanar, so as to determine a reference plane P.
  • the edges 3.4, 4.3 and 6.3 of elements 3, 4 and 6 are collinear, so as to determine an axis XX, the elements 4 and 6 being arranged on either side of the element 3.
  • the element 5 is at least approximately arranged in alignment with the edge 3.5 of element 3, this edge 3.5 determining an axis YY, perpendicular to the axis XX.
  • the reference elements 3 to 5 are arranged in the vicinity of the periphery of the flat face 2.
  • FIG. 4 an application of the device illustrated by FIGS. 1 to 3 is shown diagrammatically.
  • the device 1 is a drilling template, that is to say a plate pierced with a plurality of guide holes 7 for a drill or a reamer 8.
  • the drilling template 1 is fixed to a part 9, in which holes must be drilled in correspondence with the guide holes 7.
  • the part 9 is the wing of an aircraft in the vicinity of its root on the structure thereof, the holes to be drilled used for setting places means for fixing said wing on said structure.
  • the tool 8 is mounted on the wrist 10 of a robot, not shown, controlled by a computer 11.
  • the wrist 10 can be moved in translation, parallel to the three axes Ox, Oy and Oz of a reference trihedron, and can be rotated around two perpendicular axes uu and vv.
  • the drilling template 1 occupies a rigorous position relative to the latter. However, because of the possible tolerances of the positioning of the part 9 relative to its support (not shown), the position of the gauge 1 does not coincide, in the system of axes Ox, Oy and Oz of the robot, with the nominal reference position which it should occupy.
  • the reference elements 3 to 6 are provided on the plane face 2 of said template 1, described above.
  • a distance measuring device 12 for example of the laser type, has been mounted on the wrist 10.
  • the distance measuring device 12 emits a signal as soon as it is at a predetermined distance from an obstacle.
  • the positioning of the distance device 12, relative to the axis of the tool 8, is fixed and known, so that it is possible to easily deduce the position of the tool 8, when one knows that of detector 12.
  • the wrist 10 of the robot is moved, by translation parallel to the plane Ox, Oy, to be brought into line with the position that one of the pads 3 to 6 should occupy , for example the stud 3, if the drilling template 1 occupied a nominal reference position, known to said robot. Since the position tolerances of the drilling template 1 with respect to this nominal reference position are such that the real position of said stud 3 at least partially covers its nominal position, the detector 12 is therefore plumb said pad 3. The wrist 10 of the robot is then moved parallel to the axis Oz, to approach said pad 3. When the detector 12 is at a predetermined distance from the face 3.3 of the pad 3, it emits a signal in the direction of the calculator 11. The latter therefore knows the exact position of said face 3.3 with respect to the plane Ox, Oy.
  • the computer 11 By recommencing similar operations for the other pads 4, 5 and 6, the computer 11 therefore measures the distances separating the faces 4.2, 5.1 and 6.2 respectively of said plane Ox, Oy. He therefore knows the orientation of the plane face 2 with respect to the plane Ox, Oy and he deduces therefrom the value of the angle or angles whose wrist 10 he has to tilt around the axes uu and vv, so that the tool 8 is perpendicular to said flat face 2.
  • the wrist 10 is successively moved parallel to the axis Oy to know the distances separating said faces 3.1, 4.1 and 6.1 from the plane Ox, Oz.
  • the computer 11 then knows the position of the axis X-X in the reference trihedron Ox, Oy and Oz.
  • the pads 3 to 6 therefore allowed, for each hole 7 of the drilling template 1, a change of axes allowing the computer 11 to know precisely the position of said hole and its orientation.
  • the flat face 2 is material. It could also be immaterial and be determined only by the faces of the studs 3, 4, 5 and 6 opposite the faces 3.3, 4.2, 5.1 and 6.2, said studs being secured to an object (not shown) by columns carrying said studs at their free ends. It goes without saying that then the reference mark of this immaterial plane face 2 would make it possible to identify any point of said object which is integral therewith.

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Drilling And Boring (AREA)
  • Automatic Control Of Machine Tools (AREA)
  • Machine Tool Sensing Apparatuses (AREA)
EP91402780A 1990-10-24 1991-10-18 Lokalisierungsvorrichtung für eine ebene Fläche und diese anwendendes Bearbeitungssystem Expired - Lifetime EP0482983B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9013181 1990-10-24
FR9013181A FR2668408B1 (fr) 1990-10-24 1990-10-24 Dispositif de repere pour une face plane et systeme d'usinage le mettant en óoeuvre.

Publications (2)

Publication Number Publication Date
EP0482983A1 true EP0482983A1 (de) 1992-04-29
EP0482983B1 EP0482983B1 (de) 1995-04-19

Family

ID=9401531

Family Applications (1)

Application Number Title Priority Date Filing Date
EP91402780A Expired - Lifetime EP0482983B1 (de) 1990-10-24 1991-10-18 Lokalisierungsvorrichtung für eine ebene Fläche und diese anwendendes Bearbeitungssystem

Country Status (4)

Country Link
US (1) US5181809A (de)
EP (1) EP0482983B1 (de)
DE (1) DE69109051T2 (de)
FR (1) FR2668408B1 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0645683A1 (de) * 1993-09-28 1995-03-29 Corning Incorporated Feine Bearbeitung einer gekrümmten Halbleiterscheibe

Families Citing this family (25)

* Cited by examiner, † Cited by third party
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US5313410A (en) * 1991-03-28 1994-05-17 Alpha Q, Inc. Artifact and method for verifying accuracy of a positioning apparatus
US5348431A (en) * 1991-10-09 1994-09-20 Canon Kabushiki Kaisha Precision cutting process machine and precision cutting process method
DE19681395T1 (de) * 1995-05-16 1998-04-16 Brown & Sharpe Mfg Koordinatenmeßmaschine mit Gelenkarm
US5616917A (en) * 1995-05-16 1997-04-01 Brown & Sharpe Manufacturing Company Device for measuring an angle between pivotally-connected members
US6850907B2 (en) * 1996-12-13 2005-02-01 Cantor Fitzgerald, L.P. Automated price improvement protocol processor
US5905974A (en) * 1996-12-13 1999-05-18 Cantor Fitzgerald Securities Automated auction protocol processor
US5836068A (en) * 1997-04-14 1998-11-17 Northrop Grumman Corporation Mobile gantry tool and method
US5848458A (en) * 1997-05-15 1998-12-15 Northrop Grumman Corporation Reconfigurable gantry tool
US7392214B1 (en) * 1999-04-30 2008-06-24 Bgc Partners, Inc. Systems and methods for trading
US6276676B1 (en) 1999-07-30 2001-08-21 Excellon Automation Company Manual registration pin alignment system
US6199290B1 (en) 1999-07-30 2001-03-13 Excellon Automation Co. Method and apparatus for automatic loading and registration of PCBs
US7392217B2 (en) * 2001-05-09 2008-06-24 Bgc Partners, Inc. Systems and methods for controlling traders from manipulating electronic trading markets
EP1416363A3 (de) 2002-10-31 2006-07-26 eSpeed, Inc. Tastatur für Handelsystem
US8566212B2 (en) 2002-10-31 2013-10-22 Bgc Partners, Inc. Electronic systems and methods for providing a trading interface with advanced features
US8131625B2 (en) * 2003-11-17 2012-03-06 Bgc Partners, Inc. Customizable trading display of market data
US8131626B2 (en) * 2003-11-17 2012-03-06 Bgc Partners, Inc. Customizable trading display of market data
US7024787B2 (en) * 2004-04-01 2006-04-11 United Technologies Corporation Template for evaluating parts and method of using same
US8219480B2 (en) 2005-03-24 2012-07-10 Bgc Partners, Inc. Systems and methods for protecting against erroneous price entries in the electronic trading of financial and other instruments
US8229832B2 (en) * 2006-01-09 2012-07-24 Bgc Partners, Inc. Systems and methods for establishing first on the follow trading priority in electronic trading systems
EP3038792A4 (de) 2013-08-26 2017-06-21 Novator AB Verfahren, system, computerprogramm und computerprogrammprodukt zur vermessung von objekten
CN106457498B (zh) * 2014-05-26 2019-04-23 诺瓦特公司 工件加工的方法、系统和存储介质
US10207333B2 (en) * 2016-08-14 2019-02-19 The Boeing Company Tool assembly, system, and method for transferring locations and dimensions of a pattern of holes
WO2018080372A1 (en) * 2016-10-25 2018-05-03 Novator Ab Method, system, computer program and a computer program product for working of a workpiece
ES3049653T3 (en) * 2017-11-15 2025-12-17 Airbus Operations Slu Driling template
US12358125B2 (en) * 2022-03-16 2025-07-15 Devon James Perlenfein Template for forming faucet assembly holes in a countertop

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2099433A1 (de) * 1970-07-17 1972-03-17 Heckert Karl Marx Stadt
DE2210713A1 (de) * 1972-03-06 1973-09-13 Siemens Ag Anordnung zur positionierung eines werkzeuges
FR2555091A1 (fr) * 1983-11-15 1985-05-24 Hitachi Shipbuilding Eng Co Appareil robotise de soudage automatique
EP0219428A1 (de) * 1985-10-16 1987-04-22 AEROSPATIALE Société Nationale Industrielle Einheit mit Spannbuchse für Bearbeitungseinheit

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2739533C2 (de) * 1977-09-02 1985-09-05 Dronsek, Max Günter, Dipl.-Ing., 8891 Klingen Vorrichtung zur Arbeitsspindel-Längeneinstellung an einer numerisch gesteuerten Werkzeugmaschine
JPS5940567B2 (ja) * 1980-06-30 1984-10-01 安藤電気株式会社 異なる穴径を含む複数の穴あけ加工装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2099433A1 (de) * 1970-07-17 1972-03-17 Heckert Karl Marx Stadt
DE2210713A1 (de) * 1972-03-06 1973-09-13 Siemens Ag Anordnung zur positionierung eines werkzeuges
FR2555091A1 (fr) * 1983-11-15 1985-05-24 Hitachi Shipbuilding Eng Co Appareil robotise de soudage automatique
EP0219428A1 (de) * 1985-10-16 1987-04-22 AEROSPATIALE Société Nationale Industrielle Einheit mit Spannbuchse für Bearbeitungseinheit

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0645683A1 (de) * 1993-09-28 1995-03-29 Corning Incorporated Feine Bearbeitung einer gekrümmten Halbleiterscheibe

Also Published As

Publication number Publication date
FR2668408B1 (fr) 1993-01-22
EP0482983B1 (de) 1995-04-19
FR2668408A1 (fr) 1992-04-30
DE69109051D1 (de) 1995-05-24
DE69109051T2 (de) 1995-11-02
US5181809A (en) 1993-01-26

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